| Directory: | ./ |
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| File: | test/capsule_box_2.cpp |
| Date: | 2025-04-01 09:23:31 |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2014-2015, CNRS-LAAS and AIST | ||
| 5 | * All rights reserved. | ||
| 6 | * | ||
| 7 | * Redistribution and use in source and binary forms, with or without | ||
| 8 | * modification, are permitted provided that the following conditions | ||
| 9 | * are met: | ||
| 10 | * | ||
| 11 | * * Redistributions of source code must retain the above copyright | ||
| 12 | * notice, this list of conditions and the following disclaimer. | ||
| 13 | * * Redistributions in binary form must reproduce the above | ||
| 14 | * copyright notice, this list of conditions and the following | ||
| 15 | * disclaimer in the documentation and/or other materials provided | ||
| 16 | * with the distribution. | ||
| 17 | * * Neither the name of CNRS-LAAS and AIST nor the names of its | ||
| 18 | * contributors may be used to endorse or promote products derived | ||
| 19 | * from this software without specific prior written permission. | ||
| 20 | * | ||
| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 32 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 33 | */ | ||
| 34 | |||
| 35 | /** \author Florent Lamiraux */ | ||
| 36 | |||
| 37 | #define BOOST_TEST_MODULE COAL_GEOMETRIC_SHAPES | ||
| 38 | #include <boost/test/included/unit_test.hpp> | ||
| 39 | |||
| 40 | #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps)) | ||
| 41 | |||
| 42 | #include "utility.h" | ||
| 43 | |||
| 44 | #include <cmath> | ||
| 45 | #include "coal/distance.h" | ||
| 46 | #include "coal/math/transform.h" | ||
| 47 | #include "coal/collision.h" | ||
| 48 | #include "coal/collision_object.h" | ||
| 49 | #include "coal/shape/geometric_shapes.h" | ||
| 50 | |||
| 51 | using coal::Scalar; | ||
| 52 | |||
| 53 |
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4 | BOOST_AUTO_TEST_CASE(distance_capsule_box) { |
| 54 | typedef coal::shared_ptr<coal::CollisionGeometry> CollisionGeometryPtr_t; | ||
| 55 | // Capsule of radius 2 and of height 4 | ||
| 56 |
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2 | CollisionGeometryPtr_t capsuleGeometry(new coal::Capsule(2., 4.)); |
| 57 | // Box of size 1 by 2 by 4 | ||
| 58 |
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2 | CollisionGeometryPtr_t boxGeometry(new coal::Box(1., 2., 4.)); |
| 59 | |||
| 60 | // Enable computation of nearest points | ||
| 61 |
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2 | coal::DistanceRequest distanceRequest(true, 0, 0); |
| 62 |
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2 | coal::DistanceResult distanceResult; |
| 63 | |||
| 64 | // Rotate capsule around y axis by pi/2 and move it behind box | ||
| 65 | coal::Transform3s tf1( | ||
| 66 |
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2 | coal::makeQuat(sqrt(Scalar(2)) / 2, 0, sqrt(Scalar(2)) / 2, 0), |
| 67 |
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4 | coal::Vec3s(Scalar(-10.), Scalar(0.8), Scalar(1.5))); |
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2 | coal::Transform3s tf2; |
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2 | coal::CollisionObject capsule(capsuleGeometry, tf1); |
| 70 |
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2 | coal::CollisionObject box(boxGeometry, tf2); |
| 71 | |||
| 72 | // test distance | ||
| 73 |
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2 | distanceResult.clear(); |
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2 | coal::distance(&capsule, &box, distanceRequest, distanceResult); |
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2 | coal::Vec3s o1 = distanceResult.nearest_points[0]; |
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2 | coal::Vec3s o2 = distanceResult.nearest_points[1]; |
| 77 | |||
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, 5.5, 1e-2); |
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2 | BOOST_CHECK_CLOSE(o1[0], -6, 1e-2); |
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2 | BOOST_CHECK_CLOSE(o1[1], 0.8, 1e-1); |
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2 | BOOST_CHECK_CLOSE(o1[2], 1.5, 1e-2); |
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2 | BOOST_CHECK_CLOSE(o2[0], -0.5, 1e-2); |
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2 | BOOST_CHECK_CLOSE(o2[1], 0.8, 1e-1); |
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2 | BOOST_CHECK_CLOSE(o2[2], 1.5, 1e-2); |
| 85 | 2 | } | |
| 86 |